Evaluation system

Abstract

To provide an evaluation system capable of efficiently evaluating a walking training device.SOLUTION: An evaluation system according to the present embodiment includes: a treadmill; a load distribution sensor which is attached to the treadmill to detect the load distribution received from the soles of a trainee standing on a belt of the treadmill; and a control device that controls the belt of the treadmill on the basis of the detection result by the load distribution sensor, and evaluates a walking training device. The evaluation system further includes at least: a carriage that can be placed on the belt of the treadmill, and has multiple wheels and an endless track which is formed in a ring shape so as to enclose the multiple wheels and rotates in conjunction with the rotation of the belt of the treadmill; a weight which is mounted on the carriage; and an overhang part which is formed so as to locally protrude from the surface of the endless track.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an evaluation system.

Background Art

[0002] Patent Document 1 discloses a walking rehabilitation system including a treadmill and a floor reaction force sensor that measures the reaction force applied to the treadmill.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in a walking training device such as a walking rehabilitation system, in order to improve reliability, it is necessary to evaluate the durability of the belt of the treadmill and the detection accuracy of the floor reaction force sensor built in the treadmill. However, Patent Document 1 does not disclose or suggest an evaluation method for the durability of the belt of the treadmill and the detection accuracy of the floor reaction force sensor built in the treadmill. Therefore, in the walking rehabilitation system disclosed in Patent Document 1, it is considered that evaluation is performed by actually having a person walk on the belt of the treadmill. However, in such an evaluation method, there is a problem that since it is difficult to perform an acceleration test, the evaluation time increases. That is, in Patent Document 1, there is a problem that it is impossible to efficiently evaluate the walking rehabilitation system.

[0005] The present invention has been made in view of the above background, and an object thereof is to provide an evaluation system capable of efficiently evaluating a walking training device.

Means for Solving the Problems

[0006] An evaluation system according to one embodiment of the present invention is an evaluation system for evaluating a walking training device, comprising: a treadmill; a load distribution sensor attached to the treadmill for detecting the distribution of load received from the soles of the feet of a trainee standing on the treadmill's belt; and a control device that controls the treadmill's belt based on the detection results from the load distribution sensor, the evaluation system further comprising: a trolley configured to be installable on the treadmill's belt, having a plurality of wheels and an endless track formed in an annular shape surrounding the plurality of wheels, which rotates in conjunction with the rotation of the treadmill's belt; a weight mounted on the trolley; and an overhang formed to locally protrude from the surface of the endless track. Since this evaluation system can reproduce human walking using the trolley, it is possible to perform acceleration tests, and as a result, the walking training device can be evaluated efficiently. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an evaluation system that can efficiently evaluate a gait training device. [Brief explanation of the drawing]

[0008] [Figure 1] This is an overall conceptual diagram showing one example configuration of a walking training device that is evaluated by the evaluation system according to Embodiment 1. [Figure 2] Figure 1 is a schematic side view of a portion of the treadmill installed in the walking training device shown. [Figure 3] Figure 1 is a schematic perspective view showing one example configuration of a walking assistance device (robot leg) provided in the walking training device shown. [Figure 4] Figure 1 is a block diagram showing an example of the system configuration of a walking training device. [Figure 5] This is a schematic top view of the evaluation system according to Embodiment 1. [Figure 6] This is a schematic side view of the evaluation system according to Embodiment 1. [Figure 7]This is a diagram illustrating the operation of the evaluation system according to Embodiment 1. [Modes for carrying out the invention]

[0009] The present invention will be described below through embodiments of the invention, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0010] <Embodiment 1> First, a gait training device evaluated by the evaluation system according to Embodiment 1 will be described. Figure 1 is an overall conceptual diagram showing one example configuration of the gait training device 100 evaluated by the evaluation system according to Embodiment 1. The gait training device 100 is a specific example of a rehabilitation support device that assists the rehabilitation of a trainee (user) 900, and is in particular a specific example of a gait training device that assists gait training. The gait training device 100 is a device for a trainee 900, who is a hemiplegic patient suffering from paralysis in one leg, to perform gait training in accordance with the guidance of a training staff member 901. Here, the training staff member 901 can be, for example, a therapist (physical therapist) or a doctor, and can also be called a training instructor, training assistant, or training supporter, as they assist the trainee's training by providing guidance or assistance. The gait training device 100 can also be called a gait training system. In the following description, the up-down direction, left-right direction, and front-back direction are directions based on the orientation of the trainee 900.

[0011] Specifically, the walking training device 100 mainly comprises a control panel 133 attached to a frame 130 that forms the overall skeleton, a treadmill 131 on which the trainee 900 walks, and a walking assistance device (robot leg) 120 attached to the affected leg, which is the paralyzed leg of the trainee 900.

[0012] The treadmill 131 is a device that encourages the trainee 900 to walk. The trainee 900, who is undergoing walking training, stands on the belt 1311 and attempts to walk in time with the movement of the belt 1311. The training staff 901 can, for example, stand on the belt 1311 behind the trainee 900 and walk together, but it is generally preferable for the training staff 901 to be in a position that makes it easy to assist the trainee 900, such as standing straddling the belt 1311.

[0013] Figure 2 is a schematic side view of a part of the treadmill 131. As shown in Figure 2, the treadmill 131 includes at least a ring-shaped belt 1311, a pulley 1312, and a motor (not shown). A load distribution sensor 222 is installed on the inside of the belt 1311 (the underside of the belt 1311 on the side where the trainee 900 sits) and is not linked to the belt 1311. However, the load distribution sensor 222 may be installed on the upper side of the belt 1311 and linked to the belt 1311.

[0014] The load distribution sensor 222 is composed of multiple sensors, which are arranged in a matrix on the underside of the belt 1311 that supports the soles of the trainee's feet 900. By using these multiple sensors, the load distribution sensor 222 can detect the magnitude and distribution of surface pressure (load) received from the soles of the trainee's feet 900. For example, the load distribution sensor 222 is a resistance change detection type load detection sheet with multiple electrodes arranged in a matrix. The detection results of the load distribution sensor 222 can be used to determine the walking state of the trainee 900 (e.g., whether each leg is in a stance phase or a swing phase). Details of how to determine the walking state of the trainee 900 based on the detection results of the load distribution sensor 222 will be described later.

[0015] In the treadmill 131, for example, the overall control unit 210 described later determines the walking state of the trainee 900 based on the detection results of the load distribution sensor 222, and rotates the pulley 1312 using a motor (not shown) according to the walking state, thereby rotating (moving) the ring-shaped belt 1311. As a result, the trainee 900 can perform walking training without falling off the belt 1311.

[0016] The frame 130 stands on the treadmill 131 installed on the floor surface, supports a control panel 133 that houses the overall control unit 210 for controlling the motor and sensors, and a training monitor 138, for example, a liquid crystal panel that presents the progress of training and the like to the trainee 900. Further, the frame 130 supports a front tension part 135 near the front of the upper part of the trainee 900, a harness tension part 112 near the upper part of the head, and a rear tension part 137 near the rear of the upper part of the head, respectively. Further, the frame 130 includes a handrail 130a for the trainee 900 to grasp.

[0017] The handrails 130a are arranged on both the left and right sides of the trainee 900. Each handrail 130a is arranged in a direction parallel to the walking direction of the trainee 900. The handrails 130a can be adjusted in the vertical position and the horizontal position. That is, the handrails 130a can include a mechanism for changing their height and width. Further, the handrails 130a can also be configured to be able to change their tilt angle by adjusting, for example, to have different heights on the front side and the rear side in the walking direction. For example, the handrails 130a can be given a tilt angle that gradually increases along the walking direction.

[0018] Further, the handrail 130a is provided with a handrail sensor 218 for detecting the load received from the trainee 900. For example, the handrail sensor 218 can be a load detection sheet of a resistance change detection type in which electrodes are arranged in a matrix. Further, the handrail sensor 218 can also be a 6-axis sensor that combines a 3-axis acceleration sensor (x, y, z) and a 3-axis gyro sensor (roll, pitch, yaw). However, the type and installation position of the handrail sensor 218 are not limited.

[0019] The camera 140 functions as an imaging unit for observing the entire body of the trainer 900. The camera 140 is installed near the training monitor 138 so as to face the trainer 900. The camera 140 captures still images and moving images of the trainer 900 during training. The camera 140 includes a set of a lens and an image sensor with an angle of view capable of capturing the entire body of the trainer 900. The image sensor is, for example, a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, which converts the optical image formed on the imaging surface into an image signal.

[0020] Through the coordinated operation of the front tension part 135 and the rear tension part 137, the load of the walking assist device 120 is offset so as not to become a burden on the affected leg, and furthermore, the starting movement of the affected leg is assisted according to the set degree.

[0021] One end of the front wire 134 is connected to the winding mechanism of the front tension part 135, and the other end is connected to the walking assist device 120. The winding mechanism of the front tension part 135 winds and unwinds the front wire 134 according to the movement of the affected leg by turning on and off a motor (not shown). Similarly, one end of the rear wire 136 is connected to the winding mechanism of the rear tension part 137, and the other end is connected to the walking assist device 120. The winding mechanism of the rear tension part 137 winds and unwinds the rear wire 136 according to the movement of the affected leg by turning on and off a motor (not shown). Through such a coordinated operation of the front tension part 135 and the rear tension part 137, the load of the walking assist device 120 is offset so as not to become a burden on the affected leg, and furthermore, the starting movement of the affected leg is assisted according to the set degree.

[0022] For example, training staff 901, acting as an operator, sets a higher level of assistance for trainees with severe paralysis. When the assistance level is set high, the front tension unit 135 retracts the front wire 134 with a relatively large force in time with the swing of the affected leg. As training progresses and assistance is no longer needed, training staff 901 sets the assistance level to the minimum. When the assistance level is set to the minimum, the front tension unit 135 retracts the front wire 134 with just enough force to cancel out the weight of the walking assistance device 120 in time with the swing of the affected leg.

[0023] The walking training device 100 further includes a fall prevention harness device composed of an orthosis 110, a harness wire 111, and a harness tensioning section 112.

[0024] The brace 110 is a belt that is wrapped around the abdomen of the trainee 900 and is secured to the waist, for example, by a hook-and-loop fastener. The brace 110 is equipped with a connecting hook 110a that connects to one end of a harness wire 111, which is a suspension device, and can also be called a hanger belt. The trainee 900 wears the brace 110 so that the connecting hook 110a is positioned on their back.

[0025] The harness wire 111 has one end connected to the connecting hook 110a of the brace 110, and the other end connected to the winding mechanism of the harness tension section 112. The winding mechanism of the harness tension section 112 winds up or unwinds the harness wire 111 by turning a motor (not shown) on and off. With this configuration, when the trainee 900 is about to fall, the fall prevention harness device winds up the harness wire 111 according to the instructions of the overall control unit 210 which detects the movement, and the brace 110 supports the trainee 900's upper body, preventing the trainee 900 from falling.

[0026] The orthosis 110 includes a posture sensor 217 for detecting the posture of the trainee 900. The posture sensor 217 is, for example, a combination of a gyroscope and an accelerometer, and outputs the tilt angle of the abdomen on which the orthosis 110 is attached relative to the direction of gravity.

[0027] The management monitor 139 is a display input device primarily for monitoring and operating by the training staff 901, and is mounted on the frame 130. The management monitor 139 is, for example, an LCD panel with a touch panel on its surface. The management monitor 139 displays various menu items related to training settings, various parameter values ​​during training, and training results. An emergency stop button 232 is also provided near the management monitor 139. When the training staff 901 presses the emergency stop button 232, the walking training device 100 comes to an emergency stop.

[0028] The walking assistance device 120 is attached to the affected leg of the trainee 900 and assists the trainee 900 in walking by reducing the load of extension and flexion at the knee joint of the affected leg. The walking assistance device 120 transmits data on leg movement obtained through walking training to the overall control unit 210 and drives the joint parts according to instructions from the overall control unit 210. The walking assistance device 120 can also be connected via wires or the like to a hip joint (connecting member with a rotating part) attached to an orthosis 110, which is part of the transfer prevention harness device.

[0029] (Details of walking assistance device 120) Figure 3 is a schematic perspective view showing one example configuration of the walking assistance device 120. The walking assistance device 120 mainly comprises a control unit 121 and multiple frames that support various parts of the affected leg. The walking assistance device 120 is also referred to as a robotic leg.

[0030] The control unit 121 includes an auxiliary control unit 220 that controls the walking assistance device 120, and also includes a motor (not shown) that generates driving force to assist the extension and flexion movements of the knee joint. The frame that supports each part of the affected leg includes an upper leg frame 122 and a lower leg frame 123 that is rotatably connected to the upper leg frame 122. This frame also includes a foot frame 124 that is rotatably connected to the lower leg frame 123, a front connecting frame 127 for connecting the front wire 134, and a rear connecting frame 128 for connecting the rear wire 136.

[0031] The upper leg frame 122 and the lower leg frame 123 rotate relative to each other around the hinge axis Ha shown in the figure. The motor of the control unit 121 rotates according to the instructions of the auxiliary control unit 220 to assist in the opening or closing of the upper leg frame 122 and the lower leg frame 123 relative to each other around the hinge axis Ha. The angle sensor 223 housed in the control unit 121 is, for example, a rotary encoder, which detects the angle between the upper leg frame 122 and the lower leg frame 123 around the hinge axis Ha. The lower leg frame 123 and the foot frame 124 rotate relative to each other around the hinge axis Hb shown in the figure. The range of relative rotation angles is pre-adjusted by the adjustment mechanism 126.

[0032] The front connecting frame 127 extends laterally along the front of the upper leg and is provided to connect to the upper leg frame 122 at both ends. The front connecting frame 127 also has a connecting hook 127a for connecting the front wire 134, located near the center in the left-right direction. The rear connecting frame 128 extends laterally along the rear of the lower leg and is provided to connect to the lower leg frame 123, which extends vertically at both ends. The rear connecting frame 128 also has a connecting hook 128a for connecting the rear wire 136, located near the center in the left-right direction.

[0033] The upper leg frame 122 is equipped with an upper leg belt 129. The upper leg belt 129 is a belt integrally attached to the upper leg frame and is wrapped around the upper leg of the affected leg to secure the upper leg frame 122 to the upper leg. This prevents the entire walking assistance device 120 from shifting relative to the trainee's leg.

[0034] (Example of system configuration for gait training device 100) Next, we will explain an example of the system configuration of the gait training device 100 using Figure 4. Figure 4 is a block diagram showing an example of the system configuration of the walking training device 100.

[0035] As shown in Figure 4, the system configuration of the walking training device 100 includes an overall control unit (control device) 210, a treadmill drive unit 211, an operation reception unit 212, a display control unit 213, a tension drive unit 214, a harness drive unit 215, an image processing unit 216, a posture sensor 217, a handrail sensor 218, a load distribution sensor 222, a communication connection IF (interface) 219, and a walking assistance device 120.

[0036] The overall control unit 210 is, for example, an MPU (Micro Processing Unit), which controls the entire device by executing a control program read from the system memory.

[0037] The treadmill drive unit 211 includes a motor and its drive circuit for rotating the belt 1311 of the treadmill 131. The overall control unit 210 controls the rotation of the belt 1311 by sending a drive signal to the treadmill drive unit 211. The overall control unit 210 adjusts the rotation speed of the belt 1311 according to the walking speed set by the training staff 901, for example. Alternatively, the overall control unit 210 adjusts the rotation speed of the belt 1311 according to the walking state of the trainee 900 determined from the detection results of the load distribution sensor 222.

[0038] The operation reception unit 212 receives input operations from the training staff 901 via operation buttons provided on the device, a touch panel superimposed on the management monitor 139, or an attached remote control. The operation signals received by the operation reception unit 212 are transmitted to the overall control unit 210. Based on the operation signals received by the operation reception unit 212, the overall control unit 210 can issue instructions to switch the power on or off, or to start training. It can also input numerical values ​​related to settings and select menu items. The operation reception unit 212 is not limited to receiving input operations from the training staff 901, but can also, of course, receive input operations from the trainee 900.

[0039] The display control unit 213 receives a display signal from the overall control unit 210, generates a display image, and displays it on the training monitor 138 or the management monitor 139. The display control unit 213 generates images showing the progress of training or real-time video captured by the camera 140 according to the display signal.

[0040] The tension drive unit 214 includes a motor and its drive circuit provided in the front tension section 135 for pulling the front wire 134, and a motor and its drive circuit provided in the rear tension section 137 for pulling the rear wire 136. The overall control unit 210 controls the winding of the front wire 134 and the rear wire 136, respectively, by sending drive signals to the tension drive unit 214. In addition, the overall control unit 210 controls the tension force of each wire by controlling the drive torque of the motor, not limited to the winding operation. Furthermore, the overall control unit 210, for example, identifies the timing when the affected leg switches from the stance state to the swing state from the detection result of the load distribution sensor 222, and assists the swing motion of the affected leg by increasing or decreasing the tension force of each wire in synchronization with that timing.

[0041] The harness drive unit 215 includes a motor and its drive circuit for pulling the harness wire 111, which are provided in the harness tension unit 112. The overall control unit 210 controls the winding of the harness wire 111 and the tension of the harness wire 111 by sending a drive signal to the harness drive unit 215. For example, if the overall control unit 210 predicts that the trainee 900 will fall, it winds up a certain amount of the harness wire 111 to prevent the trainee from falling.

[0042] The image processing unit 216 is connected to the camera 140 and can receive image signals from the camera 140. The image processing unit 216 receives image signals from the camera 140 according to instructions from the overall control unit 210, processes the received image signals, and generates image data. The image processing unit 216 can also perform specific image analysis by applying image processing to the image signals received from the camera 140 according to instructions from the overall control unit 210. For example, the image processing unit 216 detects the position of the affected leg's foot (stance position) in contact with the treadmill 131 through image analysis. Specifically, for example, it extracts an image region near the tip of the foot frame 124 and calculates the stance position by analyzing an identification marker drawn on the belt 1311 that overlaps with the tip.

[0043] As described above, the posture sensor 217 detects the tilt angle of the trainee 900's abdomen relative to the direction of gravity and transmits the detection signal to the overall control unit 210. The overall control unit 210 uses the detection signal from the posture sensor 217 to calculate the trainee 900's posture, specifically the tilt angle of the torso. The overall control unit 210 and the posture sensor 217 may be connected by a wire or by short-range wireless communication.

[0044] The handrail sensor 218 detects the load applied to the handrail 130a. In other words, the load applied to the handrail 130a is the amount of weight that the trainee 900 cannot support with both legs. The handrail sensor 218 detects this load and transmits a detection signal to the overall control unit 210.

[0045] As described above, the load distribution sensor 222 detects the magnitude and distribution of surface pressure (load) received from the soles of the trainee's feet 900 and transmits the detection signal to the overall control unit 210. The overall control unit 210 receives and analyzes the detection signal to perform tasks such as determining the walking state and estimating changes in walking.

[0046] The overall control unit 210 also serves as a function execution unit that performs various calculations and controls related to control. The overall control unit 210 includes, for example, a gait evaluation unit 210a, a training determination unit 210b, a gait state determination unit 210c, and a flexion and extension control unit 210d.

[0047] The gait evaluation unit 210a uses data acquired from various sensors to evaluate whether the trainee 900's gait is abnormal. The training determination unit 210b determines the training result for a series of gait training sessions, for example, based on the cumulative number of abnormal gaits evaluated by the gait evaluation unit 210a.

[0048] Furthermore, the method and criteria for determining the training results may be set arbitrarily. For example, the training results may be determined by comparing the amount of movement of the paralyzed part with a standard for each walking phase. A walking phase is a classification of one walking cycle (one gait cycle) for the affected leg (or healthy leg) into the stance phase, the transition phase from the stance phase to the swing phase, the swing phase, and the transition phase from the swing phase to the stance phase. Which walking phase it is can be classified (determined) from, for example, the detection results by the load distribution sensor 222. As mentioned above, a walking cycle can be treated as one cycle consisting of the stance phase, transition phase, swing phase, and transition phase, but it is not specified which period is defined as the start phase. In addition, a walking cycle can also be treated as one cycle consisting of, for example, a double-leg support state, a single-leg (affected leg) support state, a double-leg support state, and a single-leg (healthy leg) support state, and in this case as well, it is not specified which state is defined as the start state.

[0049] Furthermore, the gait cycle, focusing on the right or left leg (healthy or affected leg), can be further subdivided. For example, the stance phase can be divided into initial contact and four phases, and the swing phase into three phases. Initial contact refers to the moment the observed foot makes contact with the floor. The four phases of the stance phase refer to the loading response phase, mid-stance phase, terminal stance phase, and pre-swing phase. The loading response phase is the period from initial contact to the moment the opposite foot leaves the floor (contralateral lift-off). Mid-stance phase is the period from contralateral lift-off to the moment the heel of the observed foot leaves the floor (heel-off). Terminal stance phase is the period from heel-off to initial contact with the opposite leg. Pre-swing phase is the period from initial contact with the opposite leg to the moment the observed foot leaves the floor (lift-off). The three phases of the swing phase refer to the early swing phase, mid-swing phase, and late swing phase. The initial swing phase is the period from the end of the pre-swing phase (lift-off as described above) until both feet cross (foot crossing). The mid-swing phase is the period from foot crossing until the tibia becomes vertical (tibia vertical). The terminal swing phase is the period from tibia vertical until the next initial contact with the ground.

[0050] The walking state determination unit 210c determines the walking state of the trainee 900 based on the load distribution of each leg detected by the load distribution sensor 222. For example, the walking state determination unit 210c determines that a leg has transitioned from a swing leg to a stance leg when the load received by one leg of the trainee 900, as detected by the load distribution sensor 222, changes from a state below a first threshold to a state above the first threshold, and determines that a leg has transitioned from a stance leg to a swing leg when it changes from a state above a second threshold (first threshold > second threshold) to a state below the second threshold. Similarly, the gait state determination unit 210c determines that the other leg has transitioned from the swing leg to the stance leg when the load received from the other leg of the trainee 900, as detected by the load distribution sensor 222, changes from below the first threshold to above the first threshold, and determines that the other leg has transitioned from the stance leg to the swing leg when it changes from above the second threshold (first threshold > second threshold) to below the second threshold. The gait state determination unit 210c also determines the gait state of the affected leg, which is fitted with the walking assistance device 120, as well as the healthy leg. In this case, the gait state determination unit 210c determines the gait state taking into account the load of the walking assistance device 120. The flexion and extension control unit 210d controls the flexion and extension of the affected leg by the walking assistance device 120 based on the determination result of the gait state determination unit 210c.

[0051] The communication connection IF219 is an interface connected to the overall control unit 210, and is used to give commands to the walking assistance device 120 attached to the affected leg of the trainee 900 and to receive sensor information.

[0052] The walking assistance device 120 may be equipped with a communication connection IF219 and a communication connection IF229 connected by wire or wireless. The communication connection IF229 is connected to the auxiliary control unit 220 of the walking assistance device 120. The communication connections IF219 and 229 are communication interfaces such as wired LAN or wireless LAN that conform to communication standards.

[0053] The walking assistance device 120 may also include an auxiliary control unit 220, a joint drive unit 221, and an angle sensor 223. The auxiliary control unit 220 is, for example, an MPU and controls the walking assistance device 120 by executing a control program provided by the overall control unit 210. The auxiliary control unit 220 also notifies the overall control unit 210 of the status of the walking assistance device 120 via communication connection IFs 219 and 229. The auxiliary control unit 220 also receives commands from the overall control unit 210 and performs controls such as starting and stopping the walking assistance device 120.

[0054] The joint drive unit 221 includes the motor of the control unit 121 and its drive circuit. The auxiliary control unit 220 sends a drive signal to the joint drive unit 221, thereby assisting the upper leg frame 122 and the lower leg frame 123 in opening or closing relative to each other around the hinge axis Ha. This action assists in knee extension and flexion movements and prevents knee buckling.

[0055] As described above, the angle sensor 223 detects the angle formed by the upper leg frame 122 and the lower leg frame 123 around the hinge axis Ha and transmits a detection signal to the auxiliary control unit 220. The auxiliary control unit 220 receives this detection signal and calculates the opening angle of the knee joint.

[0056] By the way, in order to improve the reliability of the walking training device 100, it is necessary to evaluate the durability of the belt 1311 of the treadmill 131 and the detection accuracy of the load distribution sensor 222 built into the treadmill 131. One evaluation method for the walking training device 100 is to have a person actually walk on the belt 1311 of the treadmill 131. However, with such an evaluation method, the evaluation time increases, for example, when it is necessary to obtain evaluation results after long-term use. In other words, such an evaluation method cannot be used to perform evaluations efficiently.

[0057] Therefore, in this embodiment, the gait training device 100 is evaluated using an evaluation system 300 capable of reproducing human gait. Since the evaluation system 300 can reproduce human gait using a trolley instead of actual human walking, it becomes possible to perform acceleration tests, and as a result, the gait training device 100 can be evaluated efficiently. The evaluation system 300 will be described in detail below.

[0058] Figure 5 is a schematic top view of the evaluation system 300. Figure 6 is a schematic side view of the evaluation system 300. Figures 5 and 6 also show a portion of the treadmill 131.

[0059] The evaluation system 300 comprises at least a trolley 310, a weight 330 mounted on the trolley 310, and a fixing mechanism 320 for fixing the trolley 310 onto the belt 1311 of the treadmill 131.

[0060] The trolley 310 is configured to be installed on the belt 1311 of the treadmill 131. Specifically, the right side of the trolley 310 is provided with a front wheel 311a, a rear wheel 311b, and an annular track 311 that surrounds these wheels. Furthermore, as will be described in more detail later, an overhang portion 311c is formed to protrude locally from the surface of the annular track 311. The left side of the trolley 310 is provided with a front wheel 312a, a rear wheel 312b, and an annular track 312 that surrounds these wheels. Furthermore, as will be described in more detail later, an overhang portion 312c is formed to protrude locally from the surface of the annular track 312.

[0061] Furthermore, the trolley 310 is provided with a cylindrical member 313 that extends vertically upward from the center of the trolley body. A rectangular parallelepiped-shaped fixing member 314 is attached to the cylindrical member 313. The fixing member 314 is fixed by the cylindrical member 313 to a predetermined height (specifically, the same height as the rod-shaped members 323 and 324, which will be described later). A weight 330 is also installed at the tip of the cylindrical member 313. The weight of the weight 330 is adjustable and can be adjusted, for example, to match the weight of the trolley 310 to the weight of the trainee 900 or a weight close to it.

[0062] The fixing mechanism 320 is for fixing the trolley 310 onto the belt 1311 of the treadmill 131. Specifically, the fixing mechanism 320 comprises at least support members 321, 322, support members 321a, 321b, support members 322a, 322b, and rod-shaped members 323, 324. The cylindrical member 313 and fixing member 314 installed on the trolley 310 can also be considered part of the fixing mechanism 320.

[0063] Support members 321 and 322 are, for example, plate-shaped members and are fixed to the right and left sides of the treadmill 131, respectively. Support members 321a and 321b are both rod-shaped members and are supported (fixed) by support member 321. Specifically, support members 321a and 321b are formed to extend vertically upward from the upper surface of support member 321 at a predetermined distance in the front-rear direction of the treadmill 131. Support members 322a and 322b are both rod-shaped members and are supported (fixed) by support member 322. Specifically, support members 322a and 322b are formed to extend vertically upward from the upper surface of support member 322 at a predetermined distance in the front-rear direction of the treadmill 131.

[0064] One end of the rod-shaped member 323 is supported (fixed) by a support member 321a, and the other end of the rod-shaped member 323 is supported (fixed) by a support member 322a. That is, the rod-shaped member 323 is positioned to extend in the left-right direction of the treadmill 131. One end of the rod-shaped member 324 is supported (fixed) by a support member 321b, and the other end of the rod-shaped member 324 is supported (fixed) by a support member 322b. That is, the rod-shaped member 324 is positioned behind the rod-shaped member 323 and to extend in the left-right direction of the treadmill 131. Here, the rod-shaped members 323 and 324 are formed so as to sandwich the fixing member 314. The fixing member 314 only needs to be fixed by the rod-shaped members 323 and 324 so as not to move in at least the front-rear direction, and may be slidable in the left-right direction.

[0065] Furthermore, the fixing mechanism 320 is not limited to the structure described above, and can be appropriately modified to any structure that can fix the trolley 310 onto the belt 1311 of the treadmill 131.

[0066] When the belt 1311 rotates while the trolley 310 is fixed, the tracks 311 and 312 that are in contact with the belt 1311 also rotate in conjunction with the rotation of the belt 1311.

[0067] Figure 7 is a diagram illustrating the operation of the evaluation system 300. Figure 7 shows a series of schematic bottom views of the endless tracks 311 and 312, which rotate in conjunction with the rotation of the belt 1311. As shown in Figure 7, the endless track 311 has an overhang 311c that protrudes locally from its surface. The overhang 311c is composed of, for example, multiple plate-like members attached to the surface of the endless track 311. The overhang 311c has, for example, the shape of the sole of the trainee 900's right foot, or a similar shape. Similarly, the endless track 312 has an overhang 312c that protrudes locally from its surface. The overhang 312c is composed of, for example, multiple plate-like members attached to the surface of the endless track 312. The overhang 312c has, for example, the shape of the sole of the trainee 900's left foot, or a similar shape. Furthermore, it is preferable that the protruding portions 311c and 312c are made of a material similar to that used in shoes, such as rubber.

[0068] Referring to Figure 7, at time t1, the protruding portion 311c, which corresponds to the sole of the right foot, is located in front of the contact surface of the belt 1311 on the surface of the track 311. Therefore, the protruding portion 311c applies a load to the front right region of the belt 1311. At this time, the protruding portion 312c, which corresponds to the sole of the left foot, is not located on any of the contact surfaces of the belt 1311 on the surface of the track 312.

[0069] As the belt 1311 rotates from time t1 to time t2, the endless tracks 311 and 312 also rotate in conjunction with the rotation of the belt 1311. As a result, the protruding portion 311c, which corresponds to the sole of the right foot, moves from the front to the rear of the contact surface of the belt 1311 on the surface of the endless track 311. Therefore, the load applied to the belt 1311 by the protruding portion 311c moves from the front right region of the belt 1311 to the rear right region. Meanwhile, at time t2, a part of the protruding portion 312c, which corresponds to the sole of the left foot, begins to appear in front of the contact surface of the belt 1311 on the surface of the endless track 312.

[0070] As the belt 1311 rotates further from time t2 to time t3, the tracks 311 and 312 also rotate in conjunction with the rotation of the belt 1311. As a result, the protruding portion 311c, which corresponds to the sole of the right foot, moves from behind the contact surface of the belt 1311 on the surface of the track 311 to outside the contact surface. Therefore, the load applied to the belt 1311 by the protruding portion 311c moves from the area to the right rear of the belt 1311 to outside the belt 1311's area. On the other hand, the protruding portion 312c, which corresponds to the sole of the left foot, moves from outside the contact surface of the belt 1311 on the surface of the track 312 to the area in front of the contact surface. Therefore, the load applied to the belt 1311 by the protruding portion 312c moves from outside the belt 1311's area to the left front of the belt 1311.

[0071] As the belt 1311 rotates further from time t3 to time t4, the endless tracks 311 and 312 also rotate in conjunction with the rotation of the belt 1311. As a result, the protruding portion 312c, which corresponds to the sole of the left foot, moves from the front to the rear of the contact surface of the belt 1311 on the surface of the endless track 312. Therefore, the load applied to the belt 1311 by the protruding portion 312c moves from the front left region of the belt 1311 to the rear left region. Meanwhile, at time t4, a part of the protruding portion 311c, which corresponds to the sole of the right foot, begins to appear in front of the contact surface of the belt 1311 on the surface of the endless track 311.

[0072] From thereafter, the actions at times t1 to t4 are repeated. In this way, the walking of trainee 900 on belt 1311 is reproduced.

[0073] The evaluation system 300 may further include evaluation devices for evaluating the detection accuracy of the load distribution sensor 222 based on the detection results of the load distribution sensor 222 pressed by the protruding portions 311c and 312c, and for evaluating the degree of deterioration of the belt 1311 pressed by the protruding portions 311c and 312c.

[0074] Thus, the evaluation system 300 according to this embodiment can reproduce human walking using the trolley 310, making it possible to perform acceleration tests, and as a result, the walking training device can be evaluated efficiently.

[0075] In this embodiment, the case in which the walking assistance device 120 is attached to the right leg was described as an example, but it is not limited to this. For example, the walking assistance device 120 may be attached to the left leg, or the walking assistance device 120 may be attached to the right leg and the left leg individually. Alternatively, the walking assistance device 120 may not be attached to either leg.

[0076] Furthermore, this disclosure can be realized by having a CPU (Central Processing Unit) execute a computer program to perform some or all of the processing in the gait training device 100.

[0077] The program described above, when loaded into a computer, includes a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The program may be stored on a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals. [Explanation of Symbols]

[0078] 100 Walking Training Devices 110 Orthotics 110a Connecting hook 111 Harness Wire 112 Harness tension section 120 Walking assistance devices 121 Control Unit 122 Upper leg frame 123 Lower Leg Frame 124 Foot Frame 126 Adjustment mechanism 127 Front connecting frame 127a Connecting hook 128 Rear connecting frame 128a Connecting hook 129 Upper leg belt 130 frames 130a Handrail 131 Treadmills 133 Control Panel 134 Front wire 135 Front tension section 136 Rear wire 137 Rear tensile section 138 Training Monitors 139 Management Monitor 140 Cameras 210 Overall Control Unit 210a Walking evaluation unit 210b Training Judgment Section 210c Walking state determination unit 210d Flexion and Extension Control Unit 211 Treadmill drive unit 212 Operation Reception Section 213 Display Control Unit 214 Tensile drive unit 215 Harness drive unit 216 Image Processing Unit 217 Posture Recovery 218 Handrail Sensor 219 Communication Connection Interface 220 Auxiliary Control Unit 221 Joint drive unit 222 Load distribution sensor 223 Angle Sensor 229 Communication Connection IF 232 Emergency Stop Button 300 Evaluation System 310 bogies 311 Endless track 311a Front wheel (wheel) 311b Rear wheel (wheel) 311c Overhang 312 endless track 312a Front wheel (wheel) 312b Rear wheel (wheel) 312c overhang 313 Cylindrical member 314 Fixing member 320 Fixing mechanism 321 Support member 321a Support member 321b Support member 322 Support member 322a Support member 322b Support member 323 Rod-shaped member 324 Rod-shaped member 900 Trainee 901 Training Staff 1311 Belt 1312 Pulley

Claims

[Claim 1] Treadmill and A load distribution sensor attached to the treadmill detects the distribution of load received from the soles of the feet of a trainee standing on the treadmill's belt, A control device that controls the belt of the treadmill based on the detection results from the load distribution sensor, An evaluation system for evaluating a walking training device, comprising: A trolley configured to be installed on the belt of the treadmill, having a plurality of wheels and an endless track formed in a ring shape surrounding the plurality of wheels, which rotates in conjunction with the rotation of the treadmill belt, The weight mounted on the aforementioned trolley, An overhang formed to protrude locally from the surface of the continuous track, An evaluation system that includes at least the following.

Images